共查询到19条相似文献，搜索用时 109 毫秒
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从局部幂敛指数出发，对局部幂敛指数与其有向图的结构之间的关系进行了细致的分析，得到了1个简单易行的判断可控阵幂敛指数上界的方法，给出了可控阵幂敛指数的1个新的上界。 相似文献
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针对垂直阵在强干扰背景下采用常规波束形成方法难以估计目标俯仰角的问题，研究了超波束与逆波束形成等方法在垂直阵中的应用。讨论了超波束与逆波束形成原理，仿真分析了其波束图，表明分辨率比常规波束形成有明显提高。实测数据分析表明：超波束方法可以分辨目标与干扰的俯仰角轨迹，对角加载逆波束 MVDR 方法可以获得目标的俯仰角轨迹。研究结果解决了强干扰背景下微弱目标信号俯仰角难以估计的问题，为微弱目标定位提供了新的途径。 相似文献
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纳机电矢量水听器根据鱼类听觉器官侧线设计,是一种新型微纳结合的纤毛式水声矢量探测仿生结构。以往关于纳机电矢量水听器的定向研究都是基于单个水听器的,方位角出现了左右舷模糊,波束图的主瓣宽度较宽。为提高水听器的性能,改进了其敏感单元和封装方式,经国防科技工业一级测量站标定,其频率响应范围为20~2 000 Hz,灵敏度为-165 dB。为解决左右舷模糊,采用二元阵进行定向,水听器的两路输出信号被校准一致后,在某开阔水域进行了纳机电矢量水听器二元阵的实验研究,验证了纳机电矢量水听器二元阵水平沿X轴放置时能够唯一确定目标的方位角,但是俯仰角出现了左右舷模糊;对低频信号的定向能力较强;具有可靠的跟踪水下运动目标能力。 相似文献
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文中推导了阵元为矢量水听器时的MU S IC算法。对直线阵情况进行了计算机仿真,结果表明,矢量阵MU-S IC算法与声压阵相比具有更高的方位分辨力。 相似文献
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讨论2类双结构矩阵特征值问题的向后误差公式和上下界。这2类结构矩阵分别是反对称正交阵和反对称反Hamilton阵。使用的主要技术是基于正交辛相似变换。所得结果可看作Tisseur提出的2个待解决问题的回答。 相似文献
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This paper discusses the weak Noether symmetry for a nonholonomic controllable mechanical system of Chetaev type, and presents expressions of three kinds of conserved quantities obtained by using weak Noether symmetry. Finally, the application of these new results is illustrated by an example. 相似文献
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A fuzzy logic controller for ship path control in restricted waters is developed and evaluated. The controller uses inputs of heading, yaw rate, and lateral offset from the nominal track to produce a commanded rudder angle. Input variable fuzzification, fuzzy associative memory rules, and output set defuzzification are described. Two maneuvering situations are evaluated: track keeping along a specified path where linearized regulator control is valid; and larger maneuvers onto a specified path where nonlinear modeling and control are required. For the track keeping assessment, the controller is benchmarked against a conventional linear quadratic Gaussian (LQG) optimal controller and Kalman filter control system. The Kalman filter is used to produce the input state variable estimates for the fuzzy controller as well. An initial startup transient and regulator control performance with an external hydrodynamic disturbance are evaluated using linear model simulations of a crude oil tanker. A fully nonlinear maneuvering model for a smaller product tanker is used to assess the larger maneuvers 相似文献
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GDROV是用于堤坝探测的水下机器人,设计上属于开架式机器人,其精确的数学模型很难获得.采用基于模糊逻辑的直接自适应控制方法,利用模糊基函数网络逼近理想控制输出,通过模糊逻辑动态调整控制器的参数自适应律,可有效解决水下机器人控制问题.建立GDROV的水动力模型,给出基于模糊逻辑的直接自适应控制算法,最后通过仿真试验和外场试验验证了该控制器对模型的不确定性具有较强的鲁棒性,且具有良好的跟踪性能. 相似文献
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Tarek Elsayed 《Applied Ocean Research》2009,31(3):179-185
A multiple attribute risk assessment approach using a fuzzy inference system is developed in this work. The approach is based on the use of fuzzy sets, a rule base and a fuzzy inference engine. Traditional input probabilities and consequences used in risk assessment are represented by fuzzy sets to take into account uncertainties associated with the assignment of their values. The output risk values can be presented as crisp values or fuzzy sets with associated degree of membership. The fuzzy inference system FIS is used as an alternative approach to qualitative risk matrix techniques currently used in many industries and by ship classification societies. Two approaches for fuzzy inference are adopted. These include the Mamdani approach in which output risk values are fuzzy sets and the Sugeno method of fuzzy inference, in which output risk values are constant or linear.The use of a fuzzy set approach is particularly suited for handling multiple attribute risk problems with imprecise data. It improves upon existing qualitative methods and allows the ranking of risk alternatives based on a unified fuzzy risk index measure. Results show that while the Mamdani method is intuitive and well suited to human input, the Sugeno method is computationally more efficient and guarantees continuity of the final risk output surface. Results also show that computed risk values using a fuzzy risk index measure are consistent with those obtained using a qualitative risk matrix approach. The proposed methodology is also applicable to other ship operating modes such as transit in open sea and/or entering/leaving port. A case study for a liquefied natural gas LNG ship loading/offloading at the terminal is presented to demonstrate the developed approach capability. 相似文献
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k-传递阵是传递阵的推广 ,文献已给出了多方面的研究。本文是这 1工作的继续 ,重点讨论了 k-传递阵的某些性质和应用 ,所得结果在模糊矩阵的基本理论研究方面有实际意义。 相似文献
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Robust optimal output tracking control of a midwater trawl system based on T-S fuzzy nonlinear model
A robust optimal output tracking control method for a midwater trawl system is investigated based on T-S fuzzy nonlinear model.A simplified nonlinear mathematical model is first employed to represent a midwater trawl system,and then a T-S fuzzy model is adopted to approximate the nonlinear system.Since the strong nonlinearities and the external disturbance of the trawling system,a mixed H 2 /H ∞ fuzzy output tracking control strategy via T-S fuzzy system is proposed to regulate the trawl depth to follow a desired trajectory.The trawl depth can be regulated by adjusting the winch velocity automatically and the tracking error can be minimized according to the robust optimal criterion.In order to validate the proposed control method,a computer simulation is conducted.The simulation results indicate that the proposed fuzzy robust optimal controller make the trawl net rapidly follow the desired trajectory under the model uncertainties and the external disturbance caused by wave and current. 相似文献
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深海采矿作业中,由于海底软泥稀软,采矿机器人极易打滑,以及海底地形、海流等干扰,采矿机器人容易偏离预定路径。针对采矿机器人的海底作业过程中路径跟踪问题,设计并分析了深海采矿机器人的路径跟踪控制系统。首先提出了艏向控制实现采矿机器人路径跟踪的控制算法,通过采矿机器人与当前目标点相对位置计算采矿机器人的目标艏向角,后基于运动学模型建立模糊比例积分微分(PID)的控制方法控制采矿机器人两侧转速差值进而控制采矿机器人艏向,从而使机器人按目标路径行走;同时为了防止输入过大引起打滑,基于动力学模型数值分析了采矿机器人主动轮角加速度与打滑率之间的关系,采取限制主动轮角加速度方式防止采矿机器人过度打滑;最后通过Matlab/Simulink建立系统模型对系统进行仿真分析。仿真结果表明,该控制算法能够良好地完成采矿机器人的路径跟踪任务。 相似文献